Design of attitude resolving system based on hardware FPU

LI Weiwei; YU Jiyan

doi:10.13873/J.1000-9787(2020)07-0089-03

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Design of attitude resolving system based on hardware FPU

更新时间：2025-09-11

- Design of attitude resolving system based on hardware FPU
- Vol. 39, Issue 7, Pages: 89-91(2020)
- 作者机构：
  
  南京理工大学智能弹药国防重点学科实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2020)07-0089-03
  CLC： V249.1
- Published：2020
- 稿件说明：
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[1]李伟伟,于纪言.基于硬件FPU的姿态解算系统设计[J].传感器与微系统,2020,39(07):89-91.

LI Weiwei, YU Jiyan. Design of attitude resolving system based on hardware FPU[J]. 2020, 39(7): 89-91.
[1]李伟伟,于纪言.基于硬件FPU的姿态解算系统设计[J].传感器与微系统,2020,39(07):89-91. DOI： 10.13873/J.1000-9787(2020)07-0089-03.

LI Weiwei, YU Jiyan. Design of attitude resolving system based on hardware FPU[J]. 2020, 39(7): 89-91. DOI： 10.13873/J.1000-9787(2020)07-0089-03.

摘要

为了提高四旋翼飞行器姿态解算的速度和姿态估计的精度

提出了一种基于硬件浮点运算单元（FPU）的姿态解算系统。以STM32F407ZET6和MPU9250等作为实验平台

对惯性测量单元（IMU）传感器原始数据进行滑动平均滤波处理后再进行互补滤波算法计算

利用数字信号处理（DSP）库的硬件FPU对互补滤波算法进行加速。实验结果表明:本系统可将姿态解算的速度提高至800 Hz

俯仰角、横滚角、偏航角的精度分别提升至±0.17°

±0.26°

±0.03°

满足小型四旋翼飞行器姿态解算的精确性和快速性要求。

Abstract

In order to improve the speed of attitude solution and the precision of attitude estimation for four-rotor aircraft

an attitude calculation system based on hardware floating-point computing unit（FPU） is proposed. Taking STM32F407ZET6 and MPU 9250 as experimental platforms

the original data of inertial measurement unit（IMU）sensors are processed by sliding average filtering

and calculated by complementary filtering algorithm

and the complementary filtering algorithm is accelerated by the hardware FPU of the DSP library. The experimental results show that the system can increase the speed of attitude solution to 800 Hz

the precision of pitch angle is increased to ± 0. 17°

the precision of roll angle is increased to ± 0. 26°

and the precision of yaw angle is increased to± 0. 03°

which meets the requirements of accuracy and rapidity of attitude solution for small quadruple-rotor aircraft.

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references

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